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[conf][nps] same simple_quad JSBSim model for most quadrotors

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This commit is contained in:
Felix Ruess
2013-10-22 19:44:21 +02:00
parent ee6f9e17c6
commit 91fd8ef88c
22 changed files with 17 additions and 1188 deletions
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conf/airframes/CDW/asctec_cdw.xml
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@@ -216,6 +216,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
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@@ -257,6 +257,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
<!--define name="JSBSIM_INIT" value="&quot;reset_enac&quot;"/-->
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
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@@ -249,6 +249,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
+1
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@@ -249,6 +249,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/ardrone2_raw.xml
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@@ -206,6 +206,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;top_left_motor&quot;, &quot;top_right_motor&quot;, &quot;bottom_right_motor&quot;, &quot;bottom_left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
conf/airframes/examples/booz2.xml
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@@ -190,6 +190,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml
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@@ -214,6 +214,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
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@@ -212,6 +212,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
conf/airframes/examples/lisa_asctec.xml
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@@ -175,6 +175,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
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@@ -199,6 +199,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
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@@ -200,6 +200,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
conf/airframes/examples/quadrotor_lisa_m_mkk.xml
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@@ -189,6 +189,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
conf/airframes/examples/quadrotor_lisa_s.xml
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@@ -180,6 +180,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
conf/airframes/examples/quadrotor_mlkf.xml
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@@ -198,6 +198,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
conf/airframes/examples/quadrotor_navgo.xml
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@@ -264,6 +264,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
conf/airframes/examples/quadrotor_px4fmu.xml
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@@ -194,6 +194,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
conf/airframes/fraser_lisa_m_rotorcraft.xml
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@@ -235,6 +235,7 @@
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;simple_quad_ccw&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
conf/simulator/jsbsim/aircraft/BOOZ2_A1.xml
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@@ -1,396 +0,0 @@
<?xml version="1.0"?>
<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
<fdm_config name="QUAD COMPLETE EXT" version="2.0" release="BETA" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
<fileheader>
<author> Gustavo Violato &amp; Antoine Drouin</author>
<filecreationdate> 24-02-2009 </filecreationdate>
<version> Version 0.9 - beta</version>
<description> Simple Quadrotor without rotor dynamic </description>
</fileheader>
<metrics>
<wingarea unit="IN2"> 78.53 </wingarea>
<wingspan unit="IN"> 10 </wingspan>
<chord unit="IN"> 6.89 </chord>
<htailarea unit="FT2"> 0 </htailarea>
<htailarm unit="FT"> 0 </htailarm>
<vtailarea unit="FT2"> 0 </vtailarea>
<vtailarm unit="FT"> 0 </vtailarm>
<location name="AERORP" unit="IN">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
<location name="EYEPOINT" unit="IN">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
<location name="VRP" unit="IN">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
</metrics>
<mass_balance>
<ixx unit="SLUG*FT2"> 0.005 </ixx>
<iyy unit="SLUG*FT2"> 0.005 </iyy>
<izz unit="SLUG*FT2"> 0.010 </izz>
<ixy unit="SLUG*FT2"> 0. </ixy>
<ixz unit="SLUG*FT2"> 0. </ixz>
<iyz unit="SLUG*FT2"> 0. </iyz>
<emptywt unit="LBS"> 0.84 </emptywt>
<location name="CG" unit="M">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
</mass_balance>
<ground_reactions>
<contact type="STRUCTURE" name="CONTACT_FRONT">
<location unit="M">
<x>-0.15 </x>
<y> 0 </y>
<z>-0.1 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction>
<spring_coeff unit="N/M"> 500 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="CONTACT_BACK">
<location unit="M">
<x> 0.15</x>
<y> 0 </y>
<z>-0.1 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction>
<spring_coeff unit="N/M"> 500 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="CONTACT_RIGHT">
<location unit="M">
<x> 0. </x>
<y> 0.15</y>
<z>-0.1 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction>
<spring_coeff unit="N/M"> 500 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="CONTACT_LEFT">
<location unit="M">
<x> 0. </x>
<y>-0.15</y>
<z>-0.1 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction>
<spring_coeff unit="N/M"> 500 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
</ground_reactions>
<external_reactions>
<property>fcs/front_motor</property>
<property>fcs/back_motor</property>
<property>fcs/right_motor</property>
<property>fcs/left_motor</property>
<!-- First the lift forces produced by each propeller -->
<force name="front_motor" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/front_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-6.89</x>
<y>0</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<force name="back_motor" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/back_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>6.89</x>
<y>0</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<force name="right_motor" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/right_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>0</x>
<y>6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<force name="left_motor" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/left_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>0</x>
<y>-6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<!-- Then the Moment Couples -->
<!-- Front Engine -->
<force name="front_couple1" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/front_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-6.89</x>
<!-- Necessary arm in IN to produce a moment ten times
"weaker" then the force when both are measured in the SI.
front and back motors turning clockwise, left and right motors
turning anti-clockwise when view from up-->
<y>1.9685</y>
<z>0</z>
</location>
<direction>
<x>1</x>
<y>0</y>
<z>0</z>
</direction>
</force>
<force name="front_couple2" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/front_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-6.89</x>
<y>-1.9685</y>
<z>0</z>
</location>
<direction>
<x>-1</x>
<y>0</y>
<z>0</z>
</direction>
</force>
<!-- Back Engine -->
<force name="back_couple1" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/back_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>6.89</x>
<y>1.9685</y>
<z>0</z>
</location>
<direction>
<x>1</x>
<y>0</y>
<z>0</z>
</direction>
</force>
<force name="back_couple2" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/back_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>6.89</x>
<y>-1.9685</y>
<z>0</z>
</location>
<direction>
<x>-1</x>
<y>0</y>
<z>0</z>
</direction>
</force>
<!-- Right Engine -->
<force name="right_couple1" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/right_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-1.9685</x>
<y>6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>1</y>
<z>0</z>
</direction>
</force>
<force name="right_couple2" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/right_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>1.9685</x>
<y>6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>-1</y>
<z>0</z>
</direction>
</force>
<!-- Left Engine -->
<force name="left_couple1" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/left_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-1.9685</x>
<y>-6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>1</y>
<z>0</z>
</direction>
</force>
<force name="left_couple2" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/left_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>1.9685</x>
<y>-6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>-1</y>
<z>0</z>
</direction>
</force>
</external_reactions>
<propulsion/>
<flight_control name="FGFCS"/>
<aerodynamics>
<axis name="DRAG">
<function name="aero/coefficient/CD">
<description>Drag</description>
<product>
<property>aero/qbar-psf</property>
<value>47.9</value> <!-- Conversion to pascals -->
<value>0.0151</value> <!-- CD x Area (m^2) -->
<value>0.224808943</value> <!-- N to LBS -->
</product>
</function>
</axis>
</aerodynamics>
</fdm_config>
conf/simulator/jsbsim/aircraft/BOOZ2_A1P.xml
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@@ -1,396 +0,0 @@
<?xml version="1.0"?>
<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
<fdm_config name="QUAD COMPLETE EXT" version="2.0" release="BETA" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
<fileheader>
<author> Gustavo Violato &amp; Antoine Drouin</author>
<filecreationdate> 24-02-2009 </filecreationdate>
<version> Version 0.9 - beta</version>
<description> Simple Quadrotor without rotor dynamic </description>
</fileheader>
<metrics>
<wingarea unit="IN2"> 78.53 </wingarea>
<wingspan unit="IN"> 10 </wingspan>
<chord unit="IN"> 6.89 </chord>
<htailarea unit="FT2"> 0 </htailarea>
<htailarm unit="FT"> 0 </htailarm>
<vtailarea unit="FT2"> 0 </vtailarea>
<vtailarm unit="FT"> 0 </vtailarm>
<location name="AERORP" unit="IN">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
<location name="EYEPOINT" unit="IN">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
<location name="VRP" unit="IN">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
</metrics>
<mass_balance>
<ixx unit="SLUG*FT2"> 0.005 </ixx>
<iyy unit="SLUG*FT2"> 0.005 </iyy>
<izz unit="SLUG*FT2"> 0.010 </izz>
<ixy unit="SLUG*FT2"> 0. </ixy>
<ixz unit="SLUG*FT2"> 0. </ixz>
<iyz unit="SLUG*FT2"> 0. </iyz>
<emptywt unit="LBS"> 0.84 </emptywt>
<location name="CG" unit="M">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
</mass_balance>
<ground_reactions>
<contact type="STRUCTURE" name="CONTACT_FRONT">
<location unit="M">
<x>-0.15 </x>
<y> 0 </y>
<z>-0.1 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction>
<spring_coeff unit="N/M"> 500 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="CONTACT_BACK">
<location unit="M">
<x> 0.15</x>
<y> 0 </y>
<z>-0.1 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction>
<spring_coeff unit="N/M"> 500 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="CONTACT_RIGHT">
<location unit="M">
<x> 0. </x>
<y> 0.15</y>
<z>-0.1 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction>
<spring_coeff unit="N/M"> 500 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="CONTACT_LEFT">
<location unit="M">
<x> 0. </x>
<y>-0.15</y>
<z>-0.1 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction>
<spring_coeff unit="N/M"> 500 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
</ground_reactions>
<external_reactions>
<property>fcs/front_motor</property>
<property>fcs/back_motor</property>
<property>fcs/right_motor</property>
<property>fcs/left_motor</property>
<!-- First the lift forces produced by each propeller -->
<force name="front_motor" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/front_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-6.89</x>
<y>0</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<force name="back_motor" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/back_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>6.89</x>
<y>0</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<force name="right_motor" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/right_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>0</x>
<y>6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<force name="left_motor" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/left_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>0</x>
<y>-6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<!-- Then the Moment Couples -->
<!-- Front Engine -->
<force name="front_couple1" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/front_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-6.89</x>
<!-- Necessary arm in IN to produce a moment ten times
"weaker" then the force when both are measured in the SI.
front and back motors turning clockwise, left and right motors
turning anti-clockwise when view from up-->
<y>1.9685</y>
<z>0</z>
</location>
<direction>
<x>1</x>
<y>0</y>
<z>0</z>
</direction>
</force>
<force name="front_couple2" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/front_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-6.89</x>
<y>-1.9685</y>
<z>0</z>
</location>
<direction>
<x>-1</x>
<y>0</y>
<z>0</z>
</direction>
</force>
<!-- Back Engine -->
<force name="back_couple1" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/back_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>6.89</x>
<y>1.9685</y>
<z>0</z>
</location>
<direction>
<x>1</x>
<y>0</y>
<z>0</z>
</direction>
</force>
<force name="back_couple2" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/back_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>6.89</x>
<y>-1.9685</y>
<z>0</z>
</location>
<direction>
<x>-1</x>
<y>0</y>
<z>0</z>
</direction>
</force>
<!-- Right Engine -->
<force name="right_couple1" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/right_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-1.9685</x>
<y>6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>1</y>
<z>0</z>
</direction>
</force>
<force name="right_couple2" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/right_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>1.9685</x>
<y>6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>-1</y>
<z>0</z>
</direction>
</force>
<!-- Left Engine -->
<force name="left_couple1" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/left_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-1.9685</x>
<y>-6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>1</y>
<z>0</z>
</direction>
</force>
<force name="left_couple2" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/left_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>1.9685</x>
<y>-6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>-1</y>
<z>0</z>
</direction>
</force>
</external_reactions>
<propulsion/>
<flight_control name="FGFCS"/>
<aerodynamics>
<axis name="DRAG">
<function name="aero/coefficient/CD">
<description>Drag</description>
<product>
<property>aero/qbar-psf</property>
<value>47.9</value> <!-- Conversion to pascals -->
<value>0.0151</value> <!-- CD x Area (m^2) -->
<value>0.224808943</value> <!-- N to LBS -->
</product>
</function>
</axis>
</aerodynamics>
</fdm_config>
conf/simulator/jsbsim/aircraft/BOOZ2_F1.xml
-396
View File
@@ -1,396 +0,0 @@
<?xml version="1.0"?>
<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
<fdm_config name="QUAD COMPLETE EXT" version="2.0" release="BETA" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
<fileheader>
<author> Gustavo Violato &amp; Antoine Drouin </author>
<filecreationdate> 24-02-2009 </filecreationdate>
<version> Version 0.9 - beta</version>
<description> Simple Quadrotor without rotor dynamic </description>
</fileheader>
<metrics>
<wingarea unit="IN2"> 78.53 </wingarea>
<wingspan unit="IN"> 10 </wingspan>
<chord unit="IN"> 6.89 </chord>
<htailarea unit="FT2"> 0 </htailarea>
<htailarm unit="FT"> 0 </htailarm>
<vtailarea unit="FT2"> 0 </vtailarea>
<vtailarm unit="FT"> 0 </vtailarm>
<location name="AERORP" unit="IN">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
<location name="EYEPOINT" unit="IN">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
<location name="VRP" unit="IN">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
</metrics>
<mass_balance>
<ixx unit="SLUG*FT2"> 0.005 </ixx>
<iyy unit="SLUG*FT2"> 0.005 </iyy>
<izz unit="SLUG*FT2"> 0.010 </izz>
<ixy unit="SLUG*FT2"> 0. </ixy>
<ixz unit="SLUG*FT2"> 0. </ixz>
<iyz unit="SLUG*FT2"> 0. </iyz>
<emptywt unit="LBS"> 0.84 </emptywt>
<location name="CG" unit="M">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
</mass_balance>
<ground_reactions>
<contact type="STRUCTURE" name="CONTACT_FRONT">
<location unit="M">
<x>-0.15 </x>
<y> 0 </y>
<z>-0.1 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction>
<spring_coeff unit="N/M"> 500 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="CONTACT_BACK">
<location unit="M">
<x> 0.15</x>
<y> 0 </y>
<z>-0.1 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction>
<spring_coeff unit="N/M"> 500 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="CONTACT_RIGHT">
<location unit="M">
<x> 0. </x>
<y> 0.15</y>
<z>-0.1 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction>
<spring_coeff unit="N/M"> 500 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="CONTACT_LEFT">
<location unit="M">
<x> 0. </x>
<y>-0.15</y>
<z>-0.1 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction>
<spring_coeff unit="N/M"> 500 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
</ground_reactions>
<external_reactions>
<property>fcs/front_motor</property>
<property>fcs/back_motor</property>
<property>fcs/right_motor</property>
<property>fcs/left_motor</property>
<!-- First the lift forces produced by each propeller -->
<force name="front_motor" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/front_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-6.89</x>
<y>0</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<force name="back_motor" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/back_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>6.89</x>
<y>0</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<force name="right_motor" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/right_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>0</x>
<y>6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<force name="left_motor" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/left_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>0</x>
<y>-6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<!-- Then the Moment Couples -->
<!-- Front Engine -->
<force name="front_couple1" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/front_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-6.89</x>
<!-- Necessary arm in IN to produce a moment ten times
"weaker" then the force when both are measured in the SI.
front and back motors turning clockwise, left and right motors
turning anti-clockwise when view from up-->
<y>1.9685</y>
<z>0</z>
</location>
<direction>
<x>-1</x>
<y>0</y>
<z>0</z>
</direction>
</force>
<force name="front_couple2" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/front_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-6.89</x>
<y>-1.9685</y>
<z>0</z>
</location>
<direction>
<x>1</x>
<y>0</y>
<z>0</z>
</direction>
</force>
<!-- Back Engine -->
<force name="back_couple1" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/back_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>6.89</x>
<y>1.9685</y>
<z>0</z>
</location>
<direction>
<x>-1</x>
<y>0</y>
<z>0</z>
</direction>
</force>
<force name="back_couple2" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/back_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>6.89</x>
<y>-1.9685</y>
<z>0</z>
</location>
<direction>
<x>1</x>
<y>0</y>
<z>0</z>
</direction>
</force>
<!-- Right Engine -->
<force name="right_couple1" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/right_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-1.9685</x>
<y>6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>-1</y>
<z>0</z>
</direction>
</force>
<force name="right_couple2" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/right_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>1.9685</x>
<y>6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>1</y>
<z>0</z>
</direction>
</force>
<!-- Left Engine -->
<force name="left_couple1" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/left_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-1.9685</x>
<y>-6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>-1</y>
<z>0</z>
</direction>
</force>
<force name="left_couple2" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/left_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>1.9685</x>
<y>-6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>1</y>
<z>0</z>
</direction>
</force>
</external_reactions>
<propulsion/>
<flight_control name="FGFCS"/>
<aerodynamics>
<axis name="DRAG">
<function name="aero/coefficient/CD">
<description>Drag</description>
<product>
<property>aero/qbar-psf</property>
<value>47.9</value> <!-- Conversion to pascals -->
<value>0.0151</value> <!-- CD x Area (m^2) -->
<value>0.224808943</value> <!-- N to LBS -->
</product>
</function>
</axis>
</aerodynamics>
</fdm_config>
conf/simulator/jsbsim/aircraft/Quad_LisaM_2.xml → conf/simulator/jsbsim/aircraft/simple_quad.xml
View File
conf/simulator/jsbsim/aircraft/fraser.xml → conf/simulator/jsbsim/aircraft/simple_quad_ccw.xml
View File